picovoice_driver

ROS Wrappers for the Picovoice libraries.

Nodes

picovoice_driver_porcupine

ROS interface for the Porcupine wake word engine.

More documentation about the recognizer can be found here

Access key: https://console.picovoice.ai/

rosrun picovoice_driver picovoice_driver_porcupine _access_key:=[YOUR_ACCESS_KEY_HERE]

Parameters

• ~model_url (default=package://picovoice_driver/extern/picovoice/resources/models/porcupine_params.pv): Path to the Porcupine Picovoice model parameters. This URL should start with package:// or file://.
• ~keywords_directory_url (default=package://picovoice_driver/extern/picovoice/resources/keywords): URL to the keywords directory. Keywords in this directory will be found if the keyword url of the goal does not start with package:// or file://. This URL should start with package:// or file://.
• ~record_timeout (default=300): An incoming action goal will be aborted when this timeout is exceeded and nothing was recognized.
• ~record_directory (default=/tmp/picovoice_driver/porcupine): Record audio samples will be stored in this directory. If you do not want to store the audio samples, this parameter can be set to ''.
• ~sensitivity (default=0.5): Sensitivity of the recognizer. See the Picovoice docs for more details.

ROS action interfaces

• get_keyword (picovoice_msgs/GetKeyword): Get a keyword of a user voice command by specifying a list of keyword candidates

picovoice_driver_rhino

ROS interface for the Rhino speech to intent engine.

More documentation about the recognizer can be found here

Access key: https://console.picovoice.ai/

rosrun picovoice_driver picovoice_driver_rhino _access_key:=[YOUR_ACCESS_KEY_HERE]

Parameters

• ~model_url (default=package://picovoice_driver/extern/picovoice/resources/models/porcupine_params.pv): Path to the Rhino Picovoice model parameters. This URL should start with package:// or file://.
• ~contexts_directory_url (default=package://picovoice_driver/extern/picovoice/resources/contexts): URL to the contexts directory. Contexts in this directory will be found if the context url of the goal does not start with package:// or file://. This URL should start with package:// or file://.
• ~record_timeout (default=300): An incoming action goal will be aborted when this timeout is exceeded and nothing was recognized.
• ~record_directory (default=/tmp/picovoice_driver/porcupine): Record audio samples will be stored in this directory. If you do not want to store the audio samples, this parameter can be set to ''.
• ~sensitivity (default=0.5): Sensitivity of the recognizer. See the Picovoice docs for more details.

ROS action interfaces

• get_intent (picovoice_msgs/GetIntent): Get an intent of a user voice command by specifying a context

Changelog for package picovoice_driver

1.0.1 (2022-03-29)

• fix(deps): libsoundfile
• Contributors: Rein Appeldoorn

1.0.0 (2022-03-29)

• feat: git submodules, pv_recorder, intent filter (#4)
• feat: Use v2.1 api
• Contributors: Rein Appeldoorn

0.0.4 (2021-04-12)

• Merge pull request #3 from reinzor/fix/cmake-system-processor fix(cmake): Use CMAKE_SYSTEM_PROCESSOR
• fix(cmake): Use CMAKE_SYSTEM_PROCESSOR Should fix the armhf build
• Contributors: Rein Appeldoorn

0.0.3 (2021-04-06)

• chore: Remove trailing libs
• Merge pull request #2 from reinzor/feat/arm-build feat: ARM support
• feat: ARM support
• Contributors: Rein Appeldoorn

0.0.2 (2021-03-30)

• doc
• Contributors: Rein Appeldoorn

0.0.1 (2021-03-30)

• Picovoice ROS packages
• Contributors: Rein Appeldoorn